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<div class="title">texture_mapping.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_TEXTURE_MAPPING_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SURFACE_TEXTURE_MAPPING_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/reconstruction.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/TextureMesh.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">namespace </span>texture_mapping</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structpcl_1_1texture__mapping_1_1_camera.html">   63</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a> () : pose (), focal_length (), focal_length_w (-1), focal_length_h (-1),</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        center_w (-1), center_h (-1), height (), width (), texture_file () {}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      Eigen::Affine3f pose;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keywordtype">double</span> focal_length;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keywordtype">double</span> focal_length_w;  <span class="comment">// optional</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keywordtype">double</span> focal_length_h;  <span class="comment">// optinoal</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keywordtype">double</span> center_w;  <span class="comment">// optional</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keywordtype">double</span> center_h;  <span class="comment">// optional</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keywordtype">double</span> height;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordtype">double</span> width;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      std::string texture_file;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    };</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="structpcl_1_1texture__mapping_1_1_uv_index.html">   82</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1texture__mapping_1_1_uv_index.html">UvIndex</a></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="structpcl_1_1texture__mapping_1_1_uv_index.html">UvIndex</a> () : idx_cloud (), idx_face () {}</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordtype">int</span> idx_cloud; <span class="comment">// Index of the PointXYZ in the camera&#39;s cloud</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordtype">int</span> idx_face; <span class="comment">// Face corresponding to that projection</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    };</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keyword">typedef</span> std::vector&lt;Camera, Eigen::aligned_allocator&lt;Camera&gt; &gt; CameraVector;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html">   98</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_texture_mapping.html">TextureMapping</a></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;     </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; TextureMapping &lt; PointInT &gt; &gt; Ptr;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const TextureMapping &lt; PointInT &gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">Octree</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Octree::Ptr OctreePtr;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Octree::ConstPtr OctreeConstPtr;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">pcl::texture_mapping::Camera</a> <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1texture__mapping_1_1_uv_index.html">pcl::texture_mapping::UvIndex</a> <a class="code" href="structpcl_1_1texture__mapping_1_1_uv_index.html">UvIndex</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a7f8310f1e2131ab5e152d99f328108a0">  117</a></span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a7f8310f1e2131ab5e152d99f328108a0">TextureMapping</a> () :</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <a class="code" href="classpcl_1_1_texture_mapping.html#a65ec2f3576b5b85ea03feaf8ff9ee94c">f_</a> (), <a class="code" href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">vector_field_</a> (), <a class="code" href="classpcl_1_1_texture_mapping.html#ab1b0076f1c3dc0352342d57135d16c90">tex_files_</a> (), <a class="code" href="classpcl_1_1_texture_mapping.html#a2b81bcd32e1c14e3fb48d60ef21462f2">tex_material_</a> ()</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a0ae7d29f08c19599a3f454be8ce4a29a">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a0ae7d29f08c19599a3f454be8ce4a29a">~TextureMapping</a> ()</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a0a508845259dea63b936135a6ba96060">  131</a></span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a0a508845259dea63b936135a6ba96060">setF</a> (<span class="keywordtype">float</span> f)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="classpcl_1_1_texture_mapping.html#a65ec2f3576b5b85ea03feaf8ff9ee94c">f_</a> = f;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a8fd726305e3876c0d93bc586c4b0c686">  142</a></span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a8fd726305e3876c0d93bc586c4b0c686">setVectorField</a> (<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <a class="code" href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">vector_field_</a> = Eigen::Vector3f (x, y, z);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="comment">// normalize vector field</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">vector_field_</a> = <a class="code" href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">vector_field_</a> / std::sqrt (<a class="code" href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">vector_field_</a>.dot (<a class="code" href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">vector_field_</a>));</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a6033d2ddf3eee43b1c633e6ac6ca4b09">  153</a></span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a6033d2ddf3eee43b1c633e6ac6ca4b09">setTextureFiles</a> (std::vector&lt;std::string&gt; tex_files)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <a class="code" href="classpcl_1_1_texture_mapping.html#ab1b0076f1c3dc0352342d57135d16c90">tex_files_</a> = tex_files;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#aee83a0bba3702a875749c80bdbb39510">  162</a></span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#aee83a0bba3702a875749c80bdbb39510">setTextureMaterials</a> (<a class="code" href="structpcl_1_1_tex_material.html">TexMaterial</a> tex_material)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <a class="code" href="classpcl_1_1_texture_mapping.html#a2b81bcd32e1c14e3fb48d60ef21462f2">tex_material_</a> = tex_material;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a2dfb6a986d530ec88fecd432cfeac159">mapTexture2Mesh</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a24745f8647a7442647ba6be0a89abae0">mapTexture2MeshUV</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#ae6e358a02f339cbf136db601bbdafc1d">mapMultipleTexturesToMeshUV</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                                   pcl::texture_mapping::CameraVector &amp;cams);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a183d45e708fa4aaf6d5e2e898c5cf1ec">  196</a></span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a183d45e708fa4aaf6d5e2e898c5cf1ec">getPointUVCoordinates</a> (<span class="keyword">const</span> PointInT &amp;pt, <span class="keyword">const</span> <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a> &amp;cam, Eigen::Vector2f &amp;UV_coordinates)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="comment">// if the point is in front of the camera</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordflow">if</span> (pt.z &gt; 0)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <span class="comment">// compute image center and dimension</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordtype">double</span> sizeX = cam.width;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          <span class="keywordtype">double</span> sizeY = cam.height;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          <span class="keywordtype">double</span> cx, cy;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          <span class="keywordflow">if</span> (cam.center_w &gt; 0)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            cx = cam.center_w;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            cx = (sizeX) / 2.0;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          <span class="keywordflow">if</span> (cam.center_h &gt; 0)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            cy = cam.center_h;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            cy = (sizeY) / 2.0;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          <span class="keywordtype">double</span> focal_x, focal_y;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          <span class="keywordflow">if</span> (cam.focal_length_w &gt; 0)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            focal_x = cam.focal_length_w;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            focal_x = cam.focal_length;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          <span class="keywordflow">if</span> (cam.focal_length_h&gt;0)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;            focal_y = cam.focal_length_h;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            focal_y = cam.focal_length;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          <span class="comment">// project point on image frame</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          UV_coordinates[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((focal_x * (pt.x / pt.z) + cx) / sizeX); <span class="comment">//horizontal</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          UV_coordinates[1] = 1.0f - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (((focal_y * (pt.y / pt.z) + cy) / sizeY)); <span class="comment">//vertical</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          <span class="comment">// point is visible!</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          <span class="keywordflow">if</span> (UV_coordinates[0] &gt;= 0.0 &amp;&amp; UV_coordinates[0] &lt;= 1.0 &amp;&amp; UV_coordinates[1] &gt;= 0.0 &amp;&amp; UV_coordinates[1]</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                                                                                                                 &lt;= 1.0)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="comment">// point is NOT visible by the camera</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        UV_coordinates[0] = -1.0;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        UV_coordinates[1] = -1.0;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a668faabadd56405940c58e37f30e357f">isPointOccluded</a> (<span class="keyword">const</span> PointInT &amp;pt, <span class="keyword">const</span> OctreePtr octree);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">removeOccludedPoints</a> (<span class="keyword">const</span> PointCloudPtr &amp;input_cloud,</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;                            PointCloudPtr &amp;filtered_cloud, <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size,</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                            std::vector&lt;int&gt; &amp;visible_indices, std::vector&lt;int&gt; &amp;occluded_indices);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">removeOccludedPoints</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;cleaned_mesh, <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">removeOccludedPoints</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, PointCloudPtr &amp;filtered_cloud, <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#ac06f666bb26be80837319317f30bfff0">sortFacesByCamera</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                         <a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;sorted_mesh, </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                         <span class="keyword">const</span> pcl::texture_mapping::CameraVector &amp;cameras,</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                         <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;visible_pts);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#ac440f553e49d9561fb18ba0da27f0faa">showOcclusions</a> (<span class="keyword">const</span> PointCloudPtr &amp;input_cloud, </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                      pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr &amp;colored_cloud,</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                      <span class="keyword">const</span> <span class="keywordtype">double</span> octree_voxel_size, </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                      <span class="keyword">const</span> <span class="keywordtype">bool</span> show_nb_occlusions = <span class="keyword">true</span>,</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                      <span class="keyword">const</span> <span class="keywordtype">int</span> max_occlusions = 4);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#ac440f553e49d9561fb18ba0da27f0faa">showOcclusions</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;tex_mesh, </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                      pcl::PointCloud&lt;pcl::PointXYZI&gt;::Ptr &amp;colored_cloud,</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;                      <span class="keywordtype">double</span> octree_voxel_size, </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                      <span class="keywordtype">bool</span> show_nb_occlusions = <span class="keyword">true</span>, </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                      <span class="keywordtype">int</span> max_occlusions = 4);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#afd2e4cbe8463c5f18e013c9e84e86c25">textureMeshwithMultipleCameras</a> (<a class="code" href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &amp;mesh, </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;                                      <span class="keyword">const</span> pcl::texture_mapping::CameraVector &amp;cameras);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a65ec2f3576b5b85ea03feaf8ff9ee94c">  338</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_texture_mapping.html#a65ec2f3576b5b85ea03feaf8ff9ee94c">f_</a>;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">  341</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">vector_field_</a>;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#ab1b0076f1c3dc0352342d57135d16c90">  344</a></span>&#160;      std::vector&lt;std::string&gt; <a class="code" href="classpcl_1_1_texture_mapping.html#ab1b0076f1c3dc0352342d57135d16c90">tex_files_</a>;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a2b81bcd32e1c14e3fb48d60ef21462f2">  347</a></span>&#160;      <a class="code" href="structpcl_1_1_tex_material.html">TexMaterial</a> <a class="code" href="classpcl_1_1_texture_mapping.html#a2b81bcd32e1c14e3fb48d60ef21462f2">tex_material_</a>;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#ab39c3bef6cc6df60c12e295da9d1a3f7">mapTexture2Face</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;p1, <span class="keyword">const</span> Eigen::Vector3f &amp;p2, <span class="keyword">const</span> Eigen::Vector3f &amp;p3);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#ac2b1de77bab539d4fd9045b8ae9a2a03">getTriangleCircumcenterAndSize</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p2, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p3, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;circumcenter, <span class="keywordtype">double</span> &amp;radius);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a38629b0142eda69ab2f18676017a60f6">getTriangleCircumcscribedCircleCentroid</a> ( <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p2, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p3, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;circumcenter, <span class="keywordtype">double</span> &amp;radius);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a183d45e708fa4aaf6d5e2e898c5cf1ec">getPointUVCoordinates</a> (<span class="keyword">const</span> PointInT &amp;pt, <span class="keyword">const</span> <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a> &amp;cam, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;UV_coordinates);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a9aa4543f638fb7530cf94f0f266ddab2">isFaceProjected</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1texture__mapping_1_1_camera.html">Camera</a> &amp;camera, </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;                       <span class="keyword">const</span> PointInT &amp;p1, <span class="keyword">const</span> PointInT &amp;p2, <span class="keyword">const</span> PointInT &amp;p3, </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;                       <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;proj1, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;proj2, <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;proj3);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a993ae9f20e030ee9cda61e5f5f48075c">checkPointInsideTriangle</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p2, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;p3, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y.html">pcl::PointXY</a> &amp;pt);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      std::string</div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classpcl_1_1_texture_mapping.html#a52e5f0d32ebf24c4998ea8b545d82a46">  416</a></span>&#160;      <a class="code" href="classpcl_1_1_texture_mapping.html#a52e5f0d32ebf24c4998ea8b545d82a46">getClassName</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        <span class="keywordflow">return</span> (<span class="stringliteral">&quot;TextureMapping&quot;</span>);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      }</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  };</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;}</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* TEXTURE_MAPPING_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html">pcl::TextureMapping</a></div><div class="ttdoc">The texture mapping algorithm</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a0a508845259dea63b936135a6ba96060"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a0a508845259dea63b936135a6ba96060">pcl::TextureMapping::setF</a></div><div class="ttdeci">void setF(float f)</div><div class="ttdoc">Set mesh scale control</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a0ae7d29f08c19599a3f454be8ce4a29a"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a0ae7d29f08c19599a3f454be8ce4a29a">pcl::TextureMapping::~TextureMapping</a></div><div class="ttdeci">~TextureMapping()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a183d45e708fa4aaf6d5e2e898c5cf1ec"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a183d45e708fa4aaf6d5e2e898c5cf1ec">pcl::TextureMapping::getPointUVCoordinates</a></div><div class="ttdeci">bool getPointUVCoordinates(const PointInT &amp;pt, const Camera &amp;cam, Eigen::Vector2f &amp;UV_coordinates)</div><div class="ttdoc">computes UV coordinates of point, observed by one particular camera</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a24745f8647a7442647ba6be0a89abae0"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a24745f8647a7442647ba6be0a89abae0">pcl::TextureMapping::mapTexture2MeshUV</a></div><div class="ttdeci">void mapTexture2MeshUV(pcl::TextureMesh &amp;tex_mesh)</div><div class="ttdoc">Map texture to a mesh UV mapping</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:200</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a2b81bcd32e1c14e3fb48d60ef21462f2"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a2b81bcd32e1c14e3fb48d60ef21462f2">pcl::TextureMapping::tex_material_</a></div><div class="ttdeci">TexMaterial tex_material_</div><div class="ttdoc">list of texture materials</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:347</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a2dfb6a986d530ec88fecd432cfeac159"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a2dfb6a986d530ec88fecd432cfeac159">pcl::TextureMapping::mapTexture2Mesh</a></div><div class="ttdeci">void mapTexture2Mesh(pcl::TextureMesh &amp;tex_mesh)</div><div class="ttdoc">Map texture to a mesh synthesis algorithm</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:144</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a38629b0142eda69ab2f18676017a60f6"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a38629b0142eda69ab2f18676017a60f6">pcl::TextureMapping::getTriangleCircumcscribedCircleCentroid</a></div><div class="ttdeci">void getTriangleCircumcscribedCircleCentroid(const pcl::PointXY &amp;p1, const pcl::PointXY &amp;p2, const pcl::PointXY &amp;p3, pcl::PointXY &amp;circumcenter, double &amp;radius)</div><div class="ttdoc">Returns the centroid of a triangle and the corresponding circumscribed circle's radius.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:1022</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a52e5f0d32ebf24c4998ea8b545d82a46"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a52e5f0d32ebf24c4998ea8b545d82a46">pcl::TextureMapping::getClassName</a></div><div class="ttdeci">std::string getClassName() const</div><div class="ttdoc">Class get name method.</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:416</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a6033d2ddf3eee43b1c633e6ac6ca4b09"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a6033d2ddf3eee43b1c633e6ac6ca4b09">pcl::TextureMapping::setTextureFiles</a></div><div class="ttdeci">void setTextureFiles(std::vector&lt; std::string &gt; tex_files)</div><div class="ttdoc">Set texture files</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a65ec2f3576b5b85ea03feaf8ff9ee94c"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a65ec2f3576b5b85ea03feaf8ff9ee94c">pcl::TextureMapping::f_</a></div><div class="ttdeci">float f_</div><div class="ttdoc">mesh scale control.</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:338</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a668faabadd56405940c58e37f30e357f"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a668faabadd56405940c58e37f30e357f">pcl::TextureMapping::isPointOccluded</a></div><div class="ttdeci">bool isPointOccluded(const PointInT &amp;pt, const OctreePtr octree)</div><div class="ttdoc">Check if a point is occluded using raycasting on octree.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:377</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a7f8310f1e2131ab5e152d99f328108a0"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a7f8310f1e2131ab5e152d99f328108a0">pcl::TextureMapping::TextureMapping</a></div><div class="ttdeci">TextureMapping()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a8fd726305e3876c0d93bc586c4b0c686"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a8fd726305e3876c0d93bc586c4b0c686">pcl::TextureMapping::setVectorField</a></div><div class="ttdeci">void setVectorField(float x, float y, float z)</div><div class="ttdoc">Set vector field</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a993ae9f20e030ee9cda61e5f5f48075c"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a993ae9f20e030ee9cda61e5f5f48075c">pcl::TextureMapping::checkPointInsideTriangle</a></div><div class="ttdeci">bool checkPointInsideTriangle(const pcl::PointXY &amp;p1, const pcl::PointXY &amp;p2, const pcl::PointXY &amp;p3, const pcl::PointXY &amp;pt)</div><div class="ttdoc">Returns True if a point lays within a triangle</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:1082</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a9aa4543f638fb7530cf94f0f266ddab2"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a9aa4543f638fb7530cf94f0f266ddab2">pcl::TextureMapping::isFaceProjected</a></div><div class="ttdeci">bool isFaceProjected(const Camera &amp;camera, const PointInT &amp;p1, const PointInT &amp;p2, const PointInT &amp;p3, pcl::PointXY &amp;proj1, pcl::PointXY &amp;proj2, pcl::PointXY &amp;proj3)</div><div class="ttdoc">Returns true if all the vertices of one face are projected on the camera's image plane.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:1108</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_a9b7b447112268bd059e798397b991ad5"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#a9b7b447112268bd059e798397b991ad5">pcl::TextureMapping::removeOccludedPoints</a></div><div class="ttdeci">void removeOccludedPoints(const PointCloudPtr &amp;input_cloud, PointCloudPtr &amp;filtered_cloud, const double octree_voxel_size, std::vector&lt; int &gt; &amp;visible_indices, std::vector&lt; int &gt; &amp;occluded_indices)</div><div class="ttdoc">Remove occluded points from a point cloud</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:419</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ab1b0076f1c3dc0352342d57135d16c90"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ab1b0076f1c3dc0352342d57135d16c90">pcl::TextureMapping::tex_files_</a></div><div class="ttdeci">std::vector&lt; std::string &gt; tex_files_</div><div class="ttdoc">list of texture files</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:344</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ab39c3bef6cc6df60c12e295da9d1a3f7"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ab39c3bef6cc6df60c12e295da9d1a3f7">pcl::TextureMapping::mapTexture2Face</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector2f, Eigen::aligned_allocator&lt; Eigen::Vector2f &gt; &gt; mapTexture2Face(const Eigen::Vector3f &amp;p1, const Eigen::Vector3f &amp;p2, const Eigen::Vector3f &amp;p3)</div><div class="ttdoc">Map texture to a face</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_aba6fee2519e146ec51c1b6f9cde61655"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#aba6fee2519e146ec51c1b6f9cde61655">pcl::TextureMapping::vector_field_</a></div><div class="ttdeci">Eigen::Vector3f vector_field_</div><div class="ttdoc">vector field</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:341</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ac06f666bb26be80837319317f30bfff0"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ac06f666bb26be80837319317f30bfff0">pcl::TextureMapping::sortFacesByCamera</a></div><div class="ttdeci">int sortFacesByCamera(pcl::TextureMesh &amp;tex_mesh, pcl::TextureMesh &amp;sorted_mesh, const pcl::texture_mapping::CameraVector &amp;cameras, const double octree_voxel_size, PointCloud &amp;visible_pts)</div><div class="ttdoc">Segment faces by camera visibility. Point-based segmentation.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:554</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ac2b1de77bab539d4fd9045b8ae9a2a03"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ac2b1de77bab539d4fd9045b8ae9a2a03">pcl::TextureMapping::getTriangleCircumcenterAndSize</a></div><div class="ttdeci">void getTriangleCircumcenterAndSize(const pcl::PointXY &amp;p1, const pcl::PointXY &amp;p2, const pcl::PointXY &amp;p3, pcl::PointXY &amp;circumcenter, double &amp;radius)</div><div class="ttdoc">Returns the circumcenter of a triangle and the circle's radius.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:989</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ac440f553e49d9561fb18ba0da27f0faa"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ac440f553e49d9561fb18ba0da27f0faa">pcl::TextureMapping::showOcclusions</a></div><div class="ttdeci">void showOcclusions(const PointCloudPtr &amp;input_cloud, pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;colored_cloud, const double octree_voxel_size, const bool show_nb_occlusions=true, const int max_occlusions=4)</div><div class="ttdoc">Colors a point cloud, depending on its occlusions.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:651</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_ae6e358a02f339cbf136db601bbdafc1d"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#ae6e358a02f339cbf136db601bbdafc1d">pcl::TextureMapping::mapMultipleTexturesToMeshUV</a></div><div class="ttdeci">void mapMultipleTexturesToMeshUV(pcl::TextureMesh &amp;tex_mesh, pcl::texture_mapping::CameraVector &amp;cams)</div><div class="ttdoc">Map textures acquired from a set of cameras onto a mesh.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:287</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_aee83a0bba3702a875749c80bdbb39510"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#aee83a0bba3702a875749c80bdbb39510">pcl::TextureMapping::setTextureMaterials</a></div><div class="ttdeci">void setTextureMaterials(TexMaterial tex_material)</div><div class="ttdoc">Set texture materials</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_texture_mapping_html_afd2e4cbe8463c5f18e013c9e84e86c25"><div class="ttname"><a href="classpcl_1_1_texture_mapping.html#afd2e4cbe8463c5f18e013c9e84e86c25">pcl::TextureMapping::textureMeshwithMultipleCameras</a></div><div class="ttdeci">void textureMeshwithMultipleCameras(pcl::TextureMesh &amp;mesh, const pcl::texture_mapping::CameraVector &amp;cameras)</div><div class="ttdoc">Segment and texture faces by camera visibility. Face-based segmentation.</div><div class="ttdef"><b>Definition:</b> texture_mapping.hpp:743</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a></div><div class="ttdoc">Octree pointcloud search class</div><div class="ttdef"><b>Definition:</b> octree_search.h:58</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_html"><div class="ttname"><a href="structpcl_1_1_point_x_y.html">pcl::PointXY</a></div><div class="ttdoc">A 2D point structure representing Euclidean xy coordinates.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:720</div></div>
<div class="ttc" id="astructpcl_1_1_tex_material_html"><div class="ttname"><a href="structpcl_1_1_tex_material.html">pcl::TexMaterial</a></div><div class="ttdef"><b>Definition:</b> TextureMesh.h:51</div></div>
<div class="ttc" id="astructpcl_1_1_texture_mesh_html"><div class="ttname"><a href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a></div><div class="ttdef"><b>Definition:</b> TextureMesh.h:92</div></div>
<div class="ttc" id="astructpcl_1_1texture__mapping_1_1_camera_html"><div class="ttname"><a href="structpcl_1_1texture__mapping_1_1_camera.html">pcl::texture_mapping::Camera</a></div><div class="ttdoc">Structure to store camera pose and focal length.</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:64</div></div>
<div class="ttc" id="astructpcl_1_1texture__mapping_1_1_uv_index_html"><div class="ttname"><a href="structpcl_1_1texture__mapping_1_1_uv_index.html">pcl::texture_mapping::UvIndex</a></div><div class="ttdoc">Structure that links a uv coordinate to its 3D point and face.</div><div class="ttdef"><b>Definition:</b> texture_mapping.h:83</div></div>
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